CN112913445A

CN112913445A - Mowing robot and mowing machine

Info

Publication number: CN112913445A
Application number: CN202011370802.3A
Authority: CN
Inventors: 许海深
Original assignee: Nanjing Chervon Industry Co Ltd
Current assignee: Nanjing Chervon Industry Co Ltd
Priority date: 2019-12-07
Filing date: 2020-11-30
Publication date: 2021-06-08
Also published as: US20210168999A1

Abstract

The invention discloses a robot and a mower, the robot includes: a mowing system for mowing; a housing for supporting a mowing system; the traveling assembly comprises a traveling wheel for supporting the shell to drive the mowing robot to travel on the ground; wherein, mowing system includes: a cutting assembly including a mowing element for mowing and a mounting shaft for mounting the mowing element, the mounting shaft being rotatable relative to the housing about a first axis; the driving mechanism comprises a driving shaft for driving the cutting assembly to rotate; a height adjustment mechanism for adjusting the cutting assembly to move in a first axial direction to achieve different cutting heights for the mowing element; when the height adjusting mechanism adjusts the cutting assembly to move along the first axial direction, the mounting shaft moves along the first axial direction relative to the driving shaft. The mowing robot disclosed by the invention is simple in structure and good in stability.

Description

Mowing robot and mowing machine

Technical Field

The invention relates to a garden tool, in particular to a mowing robot and a mowing machine.

Background

The lawn mower is one of garden instrument commonly used, mainly is applied to the pruning on all kinds of lawns, along with people to the improvement and the progress of science and technology that the level of afforestation required, this instrument science and technology content also constantly improves, constantly toward the direction development of more intelligence, more environmental protection. The mowing robot can automatically run and finish mowing according to a planned route, saves a large amount of labor compared with a traditional mowing machine, reduces the cost of lawn maintenance and improves the labor efficiency, uses electric energy, and reduces repeated work and saves energy due to the fact that a path is scientifically planned.

Most present mowing robot is in order to realize different height of mowing, and mowing system's height can reciprocate usually, but the structure of the inside adjustment mechanism of current mowing system and the subassembly of being adjusted by adjustment mechanism is more complicated, and the stability can be poor of complete machine, and the structure is complicated when adjusting, and poor stability.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention aims to provide the mowing robot and the mowing machine which are simple in structure and good in stability.

In order to achieve the above object, the present invention adopts the following technical solutions:

a lawn mowing robot comprising: a mowing system for mowing; a housing for supporting a mowing system; the traveling assembly comprises a traveling wheel for supporting the shell to drive the mowing robot to travel on the ground; wherein, mowing system includes: a cutting assembly including a mowing element for mowing and a mounting shaft for mounting the mowing element, the mounting shaft being rotatable relative to the housing about a first axis; the driving mechanism comprises a driving shaft for driving the cutting assembly to rotate; a height adjustment mechanism for adjusting the cutting assembly to move in a first axial direction to achieve different cutting heights for the mowing element; when the height adjusting mechanism adjusts the cutting assembly to move along the first axial direction, the mounting shaft moves along the first axial direction relative to the driving shaft.

Optionally, the position of the drive shaft relative to the housing in the direction of the first axis remains constant as the height adjustment mechanism adjusts the cutting assembly to move in the direction of the first axis.

Optionally, the drive shaft is formed with a drive section for driving the mounting shaft to rotate synchronously with the drive shaft, the drive section allowing the mounting shaft to move in the first axial direction relative to the drive shaft.

Alternatively, the drive shaft is formed with a mounting hole extending in the first axial direction, the mounting shaft is inserted into or passed through the mounting hole, and the drive portion is formed at a hole wall of the mounting hole.

Optionally, the height adjustment mechanism comprises: the operating piece is used for being operated by a user; the adjusting assembly comprises an adjusting piece and a mounting bracket for mounting the mounting shaft; wherein, when the operating member is operated by a user, the adjusting member drives the mounting bracket to move along the first axial direction.

Optionally, the adjusting member is capable of rotating relative to the housing about an axis of rotation, and the adjusting member and the mounting bracket form a drive fit therebetween that converts rotation of the adjusting member into sliding movement of the mounting bracket along the first axis.

Optionally, the drive mechanism further comprises: a prime mover for outputting power; the position of the prime mover relative to the housing in the direction of the first axis remains constant as the height adjustment mechanism adjusts the cutting assembly to move in the direction of the first axis.

Optionally, the drive mechanism further comprises: a prime mover for outputting power to drive the cutting assembly to cut grass; the mounting shaft moves in the first axial direction relative to the prime mover as the height adjustment mechanism adjusts the cutting assembly to move in the first axial direction.

Optionally, the drive shaft is a prime mover shaft of the prime mover.

Optionally, a transmission assembly for effecting power transfer between the prime mover and the mounting shaft, the drive shaft being a power take off in the transmission assembly.

Optionally, the position of the transmission assembly relative to the housing in the direction of the first axis remains constant as the height adjustment mechanism adjusts the cutting assembly to move in the direction of the first axis.

Optionally, the prime mover includes a prime mover shaft rotatable about a second axis parallel to and non-coincident with the first axis.

Optionally, the prime mover comprises a prime mover shaft rotatable about a second axis perpendicular to or inclined to the first axis.

Optionally, the height adjustment mechanism further comprises: and the driving motor is used for driving the mounting shaft to move along the first axial direction.

The invention also proposes a mowing robot comprising: a mowing system for mowing; a housing for supporting a mowing system; the traveling assembly comprises a traveling wheel for supporting the shell to drive the mowing robot to travel on the ground; wherein, mowing system includes: a cutting assembly including a mowing element for mowing and a mounting shaft for mounting the mowing element, the mounting shaft being rotatable relative to the housing about a first axis; the driving mechanism comprises a motor for driving the cutting assembly to rotate; a height adjustment mechanism for adjusting the cutting assembly to move in a first axial direction to achieve different cutting heights for the mowing element; when the height adjusting mechanism adjusts the cutting assembly to move along the first axial direction, the mounting shaft moves along the first axial direction relative to the motor.

The invention also proposes a mower comprising: a mowing system for mowing; a housing for supporting a mowing system; a travel assembly including road wheels for supporting the housing to drive the mower on the ground; wherein, mowing system includes: a cutting assembly including a mowing element for mowing and a mounting shaft for mounting the mowing element, the mounting shaft being rotatable relative to the housing about a first axis; the driving mechanism comprises a motor for driving the cutting assembly to rotate; a height adjustment mechanism for adjusting the cutting assembly to move in a first axial direction to achieve different cutting heights for the mowing element; wherein the position of the motor relative to the housing in the direction of the first axis remains constant as the height adjustment mechanism adjusts the cutting assembly to move in the direction of the first axis.

The invention has the advantages that: when the height of the mower is adjusted, the position of a prime motor for driving the mower system to rotate is kept constant, so that the mower is simple in structure and good in stability.

Drawings

Fig. 1 is a schematic structural view of a lawnmower according to a first embodiment of the present invention.

Fig. 2 is a schematic view of the structure of the mowing system in the mower of fig. 1.

Fig. 3 is a schematic view of the mating arrangement of the drive shaft and the mounting shaft of fig. 2.

Fig. 4 is a schematic structural view of a mowing system in a lawnmower according to a second embodiment of the present invention.

Fig. 5 is a schematic structural view of a mowing system in a lawnmower according to a third embodiment of the present invention.

Detailed Description

The lawn mower 100 of the first embodiment shown in fig. 1 is used for trimming grass, weeds, and the like. In the present embodiment, the lawn mower 100 is a mowing robot that does not require a user to push the robot by hand, and the mowing robot can automatically cut a lawn without being operated by a human. Of course, it will be appreciated that the mower may also be a walk-behind mower, in which case the user typically stands behind the walk-behind mower and pushes the handle of the walk-behind mower to propel it across the ground. Alternatively, the mower may also be a riding mower, in which case a user rides on a seat of the riding mower to operate it to walk on the ground. In fact, the scope of the present invention is intended to be covered by the appended claims so long as the claims are not necessarily to be construed as limited thereto.

As shown in fig. 1 and 2, the lawn mower 100 includes: mowing system 10, travel assembly 20, control assembly, energy source device 40, and enclosure 50. The mowing system 10 is configured to perform a mowing function of the lawn mower 100. The travel assembly 20 includes road wheels 21 for driving the mower 100 over a ground surface. The control assembly is used to control the powered devices within the lawn mower 100 to display the intelligent capabilities of the lawn mower 100. The energy source device 40 is used to provide energy sources for the mowing system 10, the traveling assembly 20 and the control assembly, and in the present embodiment, the energy source device 40 is a power supply device which may include a battery pack 41 mounted to the housing 50. Housing 50 is used to carry mowing system 10, control components, and power supply device 40. The travel assembly 20 is mounted to the cabinet 50 and supports the cabinet 50.

Specifically, mowing system 10 includes: a drive mechanism 110, a cutting assembly 120, and a height adjustment mechanism 130, wherein the drive mechanism 110 includes a prime mover for outputting power. The cutting assembly 120 includes: a mounting shaft 121 and a mowing element 122, wherein the mounting shaft 121 is used for driving the mowing element 122 to rotate around the first axis 101 to realize a mowing function, and the mowing element 122 can be a blade used for mowing grass in particular. Height adjustment mechanism 130 is capable of adjusting the height of mowing element 122 relative to housing 50 in the direction of first axis 101 to achieve different cutting heights for mower 100. For example, height adjustment mechanism 130 can adjust cutting assembly 120 to move mowing element 122 to a first height and a second height. When mowing element 122 is at the first height, mowing element 122 is closer to the ground, which can result in more grass being cut on the ground. When mowing element 122 is at the second height, mowing element 122 is farther from the ground, which may result in less grass being cut on the ground.

In this embodiment, height adjustment mechanism 130 is capable of driving mounting shaft 121 and mowing element 122 mounted to mounting shaft 121 up and down in the direction of first axis 101. When the height adjustment mechanism 130 adjusts the mounting shaft 121 to move up and down, the position of the prime mover relative to the housing 50 in the direction of the first axis 101 is kept fixed. Thus, in this embodiment, height adjustment mechanism 130 drives cutting assembly 120 to move up and down along first axis 101 without driving the prime mover to move up and down synchronously with cutting assembly 120, thereby resulting in a smaller total number of parts driven by height adjustment mechanism 130 that can move up and down along first axis 101 synchronously with mowing element 122, a lighter total weight of these parts, which in turn increases the comfort of operating height adjustment mechanism 130, increases the stability of height adjustment mechanism 130, and causes the weight of the load driven by height adjustment mechanism 130 to be smaller, thereby extending the useful life of height adjustment mechanism 130. In addition, the housing 50 forms or is coupled with the mounting structure 51, so that the prime mover can be fixedly mounted to the mounting structure 51 because the prime mover does not move up and down with the cutting assembly 120, thereby improving reliability of the prime mover, and also reducing vibration generated by the prime mover during operation of the mower 100, thereby extending the lifespan of the mower 100. Furthermore, the mounting shaft 121 and the mowing element 122 can be simultaneously driven by the height adjusting mechanism 130 to move up and down in the direction of the first axis 101, so that the mowing element 122 is stably mounted to the mounting shaft 121, improving the reliability of the cutting assembly 120. Particularly, in the case of the mowing robot, the overall structure of the mowing robot is small, and if the driving mechanism 110 moves up and down together with the cutting unit 120, a large space is required in the mowing robot for the driving mechanism 110 and the cutting unit 120 to move, which is disadvantageous to the miniaturization of the mowing robot. In this embodiment, the driving mechanism 110 does not move together with the cutting unit 120, so that the interior structure of the robot mower is compact, which is advantageous for downsizing the robot mower.

The prime mover includes a drive shaft 1111 for outputting power, the drive shaft 1111 being the prime mover shaft of the prime mover. In this embodiment, the prime mover is an electric motor 111, and the electric motor 111 includes a stator assembly and a rotor assembly, and the rotor assembly further includes a rotor shaft, which is a driving shaft 1111 of the electric motor 111 for outputting power. As height adjustment mechanism 130 drives mounting shaft 121 and mowing element 122 up and down along first axis 101, the position of drive shaft 1111 relative to housing 50 in the direction of first axis 101 remains constant. In the present embodiment, the driving shaft 1111 is disposed along the first axis 101 direction. The drive shaft 1111 is also disposed coaxially with the mounting shaft 121. The drive shaft 1111 is formed with a first mounting hole 1111a extending in the first axis 101 direction, the first mounting hole 1111a penetrates the drive shaft 1111 in the first axis 101 direction, and the mounting shaft 121 passes through the first mounting hole 1111 a. When the prime mover is operated, the drive shaft 1111 is able to rotate about the first axis 101, and the rotating drive shaft 1111 transmits power to the mounting shaft 121 to drive the mounting shaft 121 to also rotate about the first axis 101. The mounting shaft 121 is also slidable up and down along the first axis 101 relative to the drive shaft 1111. Specifically, as shown in fig. 3, the driving shaft 1111 has a driving portion formed on a hole wall of the first mounting hole 1111a, the driving portion driving the mounting shaft 121 to rotate in synchronization with the driving shaft 1111, the driving portion allowing the mounting shaft 121 to slide up and down with respect to the driving shaft 1111. In this embodiment, the driving portion is directly formed on the hole wall of the mounting hole 1111 a. It will be appreciated that in other embodiments, the mounting shaft may also have a drive member disposed therein, for example, a bushing fixedly connected to the drive shaft, the bushing defining a drive bore, a bore wall of the drive bore defining a drive portion configured to drive the mounting shaft to rotate with the drive shaft, the mounting shaft passing through the drive bore. In this embodiment, the driving portion is a transmission plane parallel to the first axis 101.

In this embodiment, cutting assembly 120 also includes a mount for mounting mowing element 122 to mounting shaft 121. The mounting member is a disk and the cutting element 122 is a blade mounted to the disk, the blade also being rotatable relative to the disk. The discs are fixedly mounted by means of fasteners to preset positions on the mounting shaft 121, the number of which is only one, that is to say the position of the discs relative to the mounting shaft 121 in the direction of the first axis 101 is not adjustable, that is to say the position of the discs relative to the mounting shaft 121 in the direction of the first axis 101 is fixed. Like this, can make the disc can be more stable installation to installation axle 121, avoid the disc to become flexible relative to installation axle 121.

The height adjusting mechanism 130 includes: an operating member and adjustment assembly 132. The operator is used for a user to operate to control the cutting height of the cutting assembly 120. In this embodiment, the operating member is a knob 131 that can be rotated by a user. The knob 131 may be disposed below the housing 50 or may be disposed above the housing 50. In other embodiments, the operating member may be an operating button. The lawn mower 100 further comprises a display screen 60, the operation member may be a touch button on the display screen 60, and the display screen 60 is a touch screen.

The adjustment assembly 132 includes: the adjusting member 1321 and the mounting bracket 1322, the mounting bracket 1322 is composed of two parts, the adjusting member 1321 is connected with the operating member, and the mounting bracket 1322 is used for mounting the mounting shaft 121. When the user operates the knob 131, the adjusting member 1321 adjusts the mounting bracket 1322 to move in a direction along the first axis 101 or parallel to the first axis 101, and the mounting bracket 1322 drives the assembly of the mounting shaft 121 and the mowing element 122 to move up and down along the first axis 101, so that the mowing machine 100 has different cutting heights.

The adjustment member 1321 is rotatable about an axis of rotation, and the adjustment member 1321 and the mounting bracket 1322 form a driving engagement that converts the rotation of the adjustment member 1321 into a sliding movement of the mounting bracket 1322 along the first axis 101. The drive fit may be a direct fit between adjusting member 1321 and mounting bracket 1322 or may be a transition structure disposed between adjusting member 1321 and mounting bracket 1322 such that they form an indirect fit. Specifically, the adjuster 1321 is a screw. The screw is formed with a first thread and the mounting bracket 1322 is formed with a second thread that mates with the first thread. The mounting bracket 1322 is restrained from rotating about the first axis 101, i.e., the mounting bracket 1322 cannot rotate about the first axis 101. Thus, when the adjusting member 1321 is rotated with the knob 131, the adjusting member 1321 will drive the mounting bracket 1322 to move along the first axis 101 under the cooperation of the first and second threads. The screw is mounted to a mounting structure 51 of the housing 50.

As shown in fig. 2, the mounting bracket 1322 is formed with a second mounting hole 1322b extending in the direction of the first axis 101, and the mounting shaft 121 passes through the second mounting hole 1322 b. The second mounting hole 1322b is also recessed along a radial direction perpendicular to the first axis 101 to form a groove 1322 c. The adjustment assembly 132 further includes a bearing 1323, the bearing 1323 being mounted to the recess 1322c, the bearing 1323 being movable with the mounting bracket 1322 in unison along the first axis 101. The slot wall of the slot 1322c is formed with a first position-limiting portion 1322d, and the first position-limiting portion 1322d can limit the bearing 1323 to separate from the mounting bracket 1322 along the first axis 101. The bearing 1323 further supports the mounting shaft 121, an inner ring of the bearing 1323 may be fixedly connected with the mounting shaft 121, and an outer ring of the bearing 1323 may be fixedly connected with a groove wall of the groove 1322 c. In this embodiment, the inner race of the bearing 1323 may be interference fit with the mounting shaft 121 and the outer race of the bearing 1323 may be interference fit with the slot wall of the slot 1322 c.

In the present embodiment, a second stop portion 1211 is further formed or connected to the mounting shaft 121, and the second stop portion 1211 can limit the bearing 1323 from being separated from the mounting shaft 121 along the first axis 101. In the present embodiment, the second stop 1211 is a pair of annular protrusions formed on the mounting shaft 121 with the bearing 1323 disposed therebetween. In other embodiments, the second limiting portion may also be a collar disposed on the mounting shaft.

The height adjustment mechanism 130 further includes a slide rail for limiting the rotation of the mounting bracket 1322, the slide rail being mounted on the housing 50 in a direction parallel to the first axis 101. One side of the mounting bracket 1322 serves as a slide block to engage the slide rail. The slide is formed on the housing 50 or the slide is formed by a piece fixed with respect to the housing 50. The slide rails limit the rotation of the mounting bracket 1322 about the first axis 101 while allowing the mounting bracket to slide along the slide rails along the first axis 101. One end of the screw is fixed relative to the casing 50, the screw can only rotate around the axis of the screw, the other end of the screw passes through the knob 131 and is fixedly connected with the knob 131, and the knob 131 can drive the screw to rotate when rotating.

Specifically, when the user operates the knob 131, the screw rotates along with the knob 131, and the mounting bracket 1322 is engaged with the screw, and the other side of the mounting bracket 1322 is engaged with the slide rail so as not to rotate and move horizontally, so that the mounting bracket 1322 moves up and down along the slide rail due to the rotation of the screw.

Since the bearing 1323 is fixed to the mounting bracket 1322, the bearing 1323 tends to move up and down along with the mounting bracket 1322 and also tends to move relative to the mounting shaft 121. Since the mounting shaft 121 is provided with a stopper for restricting the relative movement between the bearing 1323 and the mounting shaft 121, the bearing 1323 also drives the mounting shaft 121 to move up and down when being driven by the mounting bracket 1322.

The mounting shaft 121 is engaged with the driving shaft 1111 of the driving mechanism 110, but the mounting shaft 121 cannot drive the driving shaft 1111 to move up and down, and cannot drive the driving mechanism 110 to move up and down.

The height adjustment mechanism 130 thus completes height adjustment of only the mounting shaft 121 without adjusting the heights of other components.

Fig. 4 shows an internal part structure of the lawnmower according to the second embodiment. In this embodiment, the mower may also be a mowing robot. The lawnmower includes substantially the same structure as in the lawnmower 100 of the first embodiment: travel subassembly, control assembly and power supply unit. The mower of the present embodiment further comprises a mowing system 20a and a housing for mounting the mowing system 20a, the housing comprising a mounting structure 200. Therein, the mowing system 20a includes a cutting assembly 230 and a height adjustment mechanism 240 that are substantially identical in construction to those of the mower 100 of the first embodiment. The present embodiment differs from the first embodiment mainly in that: mowing system 20a includes a drive mechanism 210 having a configuration different from that of the first embodiment, and drive mechanism 210 includes a prime mover 211 and a transmission assembly 220 for effecting power transmission between prime mover 211 and the cutting assembly. Since the driving mechanism 210 is different from the first embodiment in the present embodiment, and the driving mechanism 210 is mounted to the cabinet, the cabinet also includes another corresponding mounting structure for mounting the driving mechanism 210. The following mainly describes differences between the present embodiment and the first embodiment, and details of the same structure of the present embodiment as that of the first embodiment will not be described.

As shown in fig. 4, the height adjustment mechanism 240 can adjust the assembly of the mounting shaft 231 and the mowing element 232 to move up and down along the first axis 201, thereby enabling the mower to have different cutting heights.

In the present embodiment, the prime mover 211 includes a prime mover shaft 2111 rotatable about the second axis 202, and the transmission assembly 220 is used for transmitting the power output by the prime mover shaft 2111 to the mounting shaft 231.

In this implementation, the transmission assembly 220 is mounted to the mounting structure 200 of the cabinet. The transmission assembly 220 includes a drive shaft for driving the mounting shaft 231 to rotate, the drive shaft driving the mounting shaft 231 to rotate synchronously therewith and allowing the mounting shaft 231 to move up and down relative thereto in the direction of the first axis 201. The drive shaft is considered herein to be part of the transmission assembly 220, i.e., the drive shaft is the power take-off of the transmission assembly 220. Of course, it is to be understood that the drive shaft may also be considered as not being part of the transmission assembly 220, but rather that the transmission assembly 220 is considered for effecting power transfer between the prime mover 211 and the drive shaft. In this embodiment, the driving shaft is a first driving wheel 221, and the driving assembly 220 further includes: a second drive pulley 222 and a drive belt 223. The transmission belt 223 is a synchronous belt, the first transmission wheel 221 and the second transmission wheel 222 are synchronous pulleys, and the final result of the transmission assembly 220 completing the torque transmission is a constant speed transmission. That is, the transmission assembly 220 only transmits torque without changing the rotational speed, such that the rotational speed of the mounting shaft 231 is the same as the rotational speed of the prime mover shaft 2111. Of course, it will be appreciated that in other embodiments, the transmission assembly may vary the rotational speed at which the prime mover shaft is transmitted to the mounting shaft such that the rotational speed of the mounting shaft is different from the rotational speed of the prime mover shaft.

In other embodiments, the transmission assembly may use one or a combination of two or more of a belt drive, a rope drive, a friction wheel drive, a gear drive, a chain drive, a screw drive, or a harmonic drive.

By providing the transmission assembly 220, the prime mover 211 and the mounting shaft 231 are not disposed on the same axis, so that the size of the entire structure of the driving mechanism 210 and the cutting assembly 230 in the height direction of the housing can be reduced, which is advantageous for downsizing the lawnmower. Moreover, in the present embodiment, the prime mover 211 is a motor, and by providing the transmission assembly 220, the motor can adopt a conventional motor in the prior art, so that the design and production cost of the motor can be reduced, and the structural strength and reliability of the motor can also be improved. Moreover, by arranging the transmission assembly 220, the cutting assembly 230 can be separated from the driving mechanism 210, so that the driving mechanism 210 and the cutting assembly 230 can be maintained independently.

Specifically, the second transmission wheel 222 is fixedly connected to the prime mover shaft 2111, the first transmission wheel 221 is formed with a driving portion 221a, the driving portion 221a can output a torque force to the mounting shaft 231 to drive the mounting shaft 231 to rotate synchronously with the first transmission wheel 221, and the driving portion 221a also allows the mounting shaft 231 to move up and down along the first axis 201. Thus, when the user operates the operating member 241, the height adjusting mechanism 240 can adjust the assembly of the mounting shaft 231 and the cutting element 232 to move up and down along the first axis 201 relative to the transmission assembly 220, so as to enable the lawn mower to have different cutting heights.

In this embodiment, the height adjustment mechanism 240 only drives the cutting assembly 230 to move up and down in the direction of the first axis 201, and the positions of the prime mover 211 and the transmission assembly 220 relative to the housing in the direction of the first axis 201 remain constant, so that the total number of parts driven by the height adjustment mechanism 240 to move up and down in the direction of the first axis 201 synchronously with the mowing element 232 is small, the total weight of the parts is light, the comfort level of the height adjustment mechanism 240 is improved, the stability of the height adjustment mechanism 240 is improved, and the weight of the load driven by the height adjustment mechanism 240 is small, so that the service life of the height adjustment mechanism 240 is prolonged. In addition, because the prime mover 211 and the transmission assembly 220 do not move up and down along with the cutting assembly 230, the prime mover 211 and the transmission assembly 220 can be mounted to the mounting structure 200 of the housing, so that the reliability of the prime mover 211 and the transmission assembly 220 is improved, the vibration generated by the prime mover 211 and the transmission assembly 220 during the operation of the mower is also reduced, and the service life of the mower is further prolonged. Furthermore, the mounting shaft 231 and the mowing element 232 can be simultaneously driven by the height adjusting mechanism 240 to move up and down in the direction of the first axis 201, so that the mowing element 232 is stably mounted to the mounting shaft 231, and the reliability of the cutting assembly 230 is improved.

In this embodiment, the first driving wheel 221 and the mounting shaft 231 are engaged with each other in a clearance fit manner. When the mounting shaft 231 moves up and down under the action of external force, the mounting shaft 231 is in clearance fit with the first driving wheel 221 and does not drive the first driving wheel 221 and the driving belt 223 engaged with the first driving wheel 221 to move up and down, so that the motor 211 does not move along with the mounting shaft 231 when moving up and down.

The drive mechanism 210 may be mounted at any location within the housing while ensuring that the prime mover shaft 2111 is able to transmit torque to the mounting shaft 231 via the transmission assembly 220, thereby also mounting the drive mechanism 210 to a more reasonable location within the housing depending on the location of the center of gravity of the mower, and other internal structural arrangements.

The second axis 202 of rotation of the prime mover shaft 2111 does not overlap the first axis 201 of rotation of the mounting shaft 231.

Preferably, the first and

second axes

201 and 202 are parallel to each other and spaced apart by a distance. Alternatively, in other embodiments, the second axis may be perpendicular to the first axis, or the second axis may be oblique to the first axis.

Fig. 5 shows an internal part structure of a lawnmower according to a third embodiment. In this embodiment, the mower may also be a mowing robot. The structure of the mower is substantially the same as that of the mower in the second embodiment, and the difference is mainly that the mower in this embodiment is not used for the user to manually adjust a knob for speed adjustment, but a driving motor 331 is provided in the height adjusting mechanism 330, the driving motor 331 drives the adjusting member 3321 to rotate through a gear assembly 333, and then the adjusting member 3321 drives the whole of the mounting bracket 3322 and the mounting shaft 321 to move up and down along the first axis 301. In this way, an electrical adjustment of the cutting height of the cutting assembly 320 may be achieved, thereby facilitating operation by a user. Moreover, the driving motor 331 may further be connected with a controller and a detecting device, the detecting device detects a load parameter, a grass height parameter, etc., and the controller controls the driving motor 331 to operate according to a result detected by the detecting device to adjust the cutting assembly 320 to a corresponding cutting height. Alternatively, in other embodiments, the driving motor 331 may be connected to a control panel, and a user may input a cutting height on the control panel, and then the driving motor 331 operates to adjust the cutting assembly 320 to the corresponding cutting height. In the present embodiment, the drive motor 331 and the prime mover are both disposed within the housing 35.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims

1. A lawn mowing robot comprising:

a mowing system for mowing;

a housing for supporting the mowing system;

the traveling assembly comprises a traveling wheel for supporting the shell to drive the mowing robot to travel on the ground;

wherein the mowing system comprises:

a cutting assembly including a mowing element for mowing and a mounting shaft for mounting the mowing element, the mounting shaft rotatable relative to the housing about a first axis;

the driving mechanism comprises a driving shaft for driving the cutting assembly to rotate;

a height adjustment mechanism for adjusting movement of the cutting assembly in the first axial direction to achieve different cutting heights for the mowing element;

wherein the mounting shaft moves in the first axial direction relative to the drive shaft when the height adjustment mechanism adjusts the cutting assembly to move in the first axial direction.

2. The robot lawnmower of claim 1, wherein:

the position of the drive shaft relative to the housing in the first axial direction remains constant as the height adjustment mechanism adjusts the cutting assembly to move in the first axial direction.

3. The robot lawnmower of claim 1, wherein: the drive shaft is formed with a drive portion for driving the mounting shaft to rotate synchronously with the drive shaft, the drive portion allowing the mounting shaft to move in the first axial direction relative to the drive shaft.

4. The robot lawnmower of claim 3, wherein:

the driving shaft is formed with a mounting hole extending in the first axial direction, the mounting shaft is inserted into or passed through the mounting hole, and the driving portion is formed in a hole wall of the mounting hole.

5. The robot lawnmower of claim 1, wherein:

the height adjustment mechanism includes:

the operating piece is used for being operated by a user;

the adjusting assembly comprises an adjusting piece and a mounting bracket for mounting the mounting shaft;

wherein the adjusting member drives the mounting bracket to move in the first axial direction when the operating member is operated by a user.

6. The robot lawnmower of claim 5, wherein:

the adjusting piece can rotate around a rotation axis relative to the machine shell, and transmission fit capable of converting rotation of the adjusting piece into sliding of the mounting bracket along the first axis direction is formed between the adjusting piece and the mounting bracket.

7. The robot lawnmower of claim 1, wherein:

the drive mechanism further includes: a prime mover for outputting power;

the position of the prime mover relative to the housing in the direction of the first axis remains constant as the height adjustment mechanism adjusts the movement of the cutting assembly in the direction of the first axis.

8. The robot lawnmower of claim 1, wherein:

the drive mechanism further includes: a prime mover for outputting power to drive the cutting assembly to mow;

when the height adjustment mechanism adjusts the cutting assembly to move in the first axial direction, the mounting shaft moves in the first axial direction relative to the prime mover.

9. The robot lawnmower of claim 7, wherein:

the drive shaft is a prime mover shaft of the prime mover.

10. The robot lawnmower of claim 7, wherein:

the drive mechanism further includes:

a transmission assembly for effecting power transfer between the prime mover and the mounting shaft, the drive shaft being a power take off in the transmission assembly.

11. The robot lawnmower of claim 10, wherein:

when the height adjusting mechanism adjusts the cutting assembly to move along the first axial direction, the position of the transmission assembly relative to the machine shell along the first axial direction is kept constant.

12. The robot lawnmower of claim 10, wherein:

the prime mover includes a prime mover shaft rotatable about a second axis parallel to and non-coincident with the first axis.

13. The robot lawnmower of claim 10, wherein:

the prime mover includes a prime mover shaft rotatable about a second axis perpendicular to or inclined to the first axis.

14. The robot lawnmower of claim 1, wherein: the height adjustment mechanism further comprises: and the driving motor is used for driving the mounting shaft to move along the first axial direction.

15. A lawn mowing robot comprising:

a mowing system for mowing;

a housing for supporting the mowing system;

wherein the mowing system comprises:

the driving mechanism comprises a motor for driving the cutting assembly to rotate;

when the height adjusting mechanism adjusts the cutting assembly to move along the first axial direction, the mounting shaft moves along the first axial direction relative to the motor.

16. A lawn mower, comprising:

a mowing system for mowing;

a housing for supporting the mowing system;

the traveling assembly comprises a traveling wheel for supporting the shell to drive the mower to travel on the ground;

wherein the mowing system comprises:

wherein the position of the motor relative to the housing in the direction of the first axis remains constant as the height adjustment mechanism adjusts the cutting assembly to move in the direction of the first axis.